diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eae4345a64a97aca4d455eaf8e0eca772e2828e6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6621c3f2c16e5b8c210bf7b7772d8b6e7620b9797bdde09881904de323e1baf4
+size 1626458
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d90633698fc2a0d3f8ceccc43cc480b18e8bf9c3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05828aacb420410230cc7f2b89158eaff85a3b0b6a2589131b8cf4f6b198654e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..04d5860e7ed74f132c090824c55b702e675824f7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea0c10ff9d57f61482da3b9a82e40132670272852bef82fdbc6caa775cef0c8
+size 60864
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee65bb4f6567c54392f91b8260c2454f17a23b3a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41e7acf6df0020daec7c2de0e57e722109f3312e7bfed4a476fab791fbf6380
+size 1536950
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..44a4336babcdd52c28b0b9a85be2850a60ded0b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e729897164d804223da9c56cf36b90c4e4809c33c8b7519e8d38d799e89fc5b
+size 1610726
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..af2e5fb6fae260d07d515419f754e66d3468b5ad
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1d8fce994055598af7634223818018dce19008350e051f4867cd1c98b6079f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3f8f14b6d7a2f2b43e4ca954367185ed5cccccd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1764480b5b369b85387be6c364333e2d6a65e465c15aa5c4de1430493b2a5982
+size 60523
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42b7dbc17c086a094880c7a33e6cd787e90131d2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00001/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc84bbf9c3966a946f6675ded1684b47758a85b846687c8fcaccb1b2bf4afb7
+size 1508654
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb45f0fa93427dedc4e56b7157fbda620e2db80f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd5898f21e9e0432661673d1f372b5a14ccbd00e0a92befcaee95745a0e0056b
+size 1577243
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cb6e386b9b0e707a84d9bd657943fb8ee7c3173
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd14bc8881c611a732cc4898e8bb6935b44e6001c38f6bb0479da337b7862f9
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d44d27aff0134229bba8074c25d363338ee2054b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92ea2e69fe0a1c6add69438d41e9725eeefc15844fb29d742d91dd123f7016b5
+size 59841
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62232ef05a30510eec4652f22b7718c5ee263a5e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00005/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b2478d9986d933bc5e97f7aa75d3b1806b3956c845979d77cc4d8f61be870f0
+size 1486749
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee34ee632b3b141388dab81ee132ac1b6f3574f6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ca180827d86aea7ce20c54610e826f27d9011a480bf82ef0c6ba09b7ed2a3f
+size 1577709
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54af879ab8f672be1d2d458063e4d6961217cf9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af8489d5fead48ad175bd5cb52a539c769bf20cd914faf1eae470229c01083e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf130626049d17270304d9a3406b61abea009fb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da9c0a153627139c3de2d51906d141326c8eeaf3b2556b81410b370325f0f8fa
+size 59093
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c52dfd0041046ccea5b1796696896f96abc95e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00006/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ddfb190674c4989d36daade601699c93585e81ee71b8677948f6945b20b886
+size 1485503
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e9e3388701dccff7c3dc10f54508e88a459ac90
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779e7c5e8b7276ead240def77d024fc4055571ec436abfb522881d340aedc672
+size 1573359
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe2f565a6e4de6c80f5f47be08dd2d485a221b35
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6da621a67153ea560398aa36e1405e54a684b52b175a7ee827c9026e93df972
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a4534f5cc0bff13cfa82fe91e68d5a46f739f6b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4174fe4b0dbd5e4c0f988ccbd717acdb7530a0737c07e8d2afc10ac749b598d0
+size 58278
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44b8163cf77c18b1c7fccf946c4e55d4198e0621
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1240de10afec2c87c9b46116e72c9b9aa2208aca37ad5c69bc0dc9d50f3251f7
+size 1479520
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..855fbb4dda82e708ac6a2aa58f49fd3c512df229
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0da716971e123e2ca2d62eba8b323989c7cfebe9a856a35d253e0c10148652a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..112fcf13868bbf8778b72791d607bd2651000cdd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fcea555bbad3abf77d59a8e10114c4512d0fbf204010e854308098e14ba7d92
+size 56932
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffeff58e975759f2bd31015913dde12db3c167ae
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a78268f2b1b4aae9621e26a370c01b3aae4bdd94275fb230da1b57dbb166ab4
+size 1469209
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff4369fdbc9daea5be9c8028433103bc04f2d154
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecbac75d8a200c96359fbf6f33a28b55ff841cc37c9ccc03e3d12965380d21c3
+size 1548664
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0c8307faa3efe50f431d1733144c87a18fcd44ad
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26023808710f8e1859cee6b5498fb6875449266fcdfa8de772954f1bb78c410
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81e53d7e8f09446edeff45f4f71b51dfe1c6ca7d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a470b33703decfb1f7cb5af782059f2b153ed1cc543be6eaf87faa328727823
+size 54131
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d895e10b76665bd1883f051fca34aa980c7e105d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00010/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3f777d1a3767f2120ad99b16c51b4a56501ef766417eb25cccd943ad325270
+size 1453153
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8471f6c8d886f61c1fd1069753f64c71ec9a51b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e106dc710c71da16135ad8d632d45b6aa6065c5b83f2d5f6234c7f6f41aa7d9
+size 1543621
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1e5470423406224d32655798bdcb887110f2326
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee01879e29f5d623b022fcf61b798b0cf7e05da7171ff0e18747f6bef1217319
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af074a160308b94cbcd3bf700b4761e29d28010
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9e0d097d1e039b49ee1d474670312a12d0c0e3cda0266abd2aad831e486afe
+size 53483
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2edb9c0517f4705175d301959d375e0f7d89b5e6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00011/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a85cfad52d65a3209eaccc2c875e5baf7e6e44497bb9cf054d78af6c720b896
+size 1446013
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..65fea29aab8e3b5d3e613dc14212c5626136d6a9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fb115ee2bf0c27b98d941cd4b0b8ea59c6b84de352e66bc3a8c50297faad5ac
+size 1527916
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..988283a1a78c413d90995b191963b3ef7d550911
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94863742802e46fad699a64e0e2a1dbcef3b272b5e7b3f5bc99da1d3fa968ea1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f24ed79554d6e6a1dcdf017bcd8b838aea26e372
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:556191467687a7b8dbc22d40cfc7fdd20f690321589ecbb401b23fd3a679e064
+size 53526
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a1a64b9cd4dc49ca99ff02a39711b1b604ca19a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00012/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8414e5d2bb73ad375e7abaf9ca084de74c5ab6933b7780e938b1b2cb9dd0e2d
+size 1429461
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fadbef9efec8a8fa1478a7f0bffa44bfea78cec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:539e2681c350efd1ad8c023996b9763137cfe770c3cc6989787320641cbbd2ac
+size 1519218
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..68aecf547ff2c3d1c2c923613483991b293c905e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:125b646be6c77480d5ccec76fbe28d4bf1b5d018cb06089c9835280e1763bbf8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..282b9f03d396a588a9589a3614128735c94bff78
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5c7cfc91173a82565f89d8bc9ff90f93bfb6c303f54439b5be32b91b84a822f
+size 54002
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2db9791ee9ff276210d53b70affbff08182a4ef3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd0d3a6458e2f3e42c6392887ebc96e17c56699d91be49892978eeb447464cc8
+size 1416910
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bb17882847ebf466bf0efcbc9e37fa603fabd1f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03c1236732f6a1df57d21345b01d7dd6e266b34b784ff9477be31fb1a2c2ff7
+size 1515302
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d106d8ccd10ab9e0599ee6c25415ab12e495deb4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfca5efc2291c25c4b72506cf55a4b5b9486fc9016dd4bb4ba067c5ce4f5d4e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..52879af16b7cd0c9c398dd1f229feb2217b89aac
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01179c7eaace9b656f83c120bf9b79205476af909d4fc0e7e8fc56939cf00dcb
+size 53488
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..71f87ee975d4f7c7837a2da634b4002db3df44be
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00015/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48a0aa7c5e87ab938b093e0430b9c328057ba7ea2733ab42dd88f2d52eeac00
+size 1417715
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..21b2815ab3783aded9601fe3337ab6ba9a57d014
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e08939b5135a78115829951790ac9b249143f8bbf6bdfc4562c069f027b4a2
+size 1517054
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c43efd62cf9669a097676621098052ceb90081a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561b93d75ce3eb40f16e1ee48ccf39e50186fb0d0e8efe44703f742644c00a2f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71fd7d8836f67b7419a4e98c18daaefa7148a4fa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c358f02cf7e1fab9e24041c409292252537d5c48602728a21a74d89174a23487
+size 53656
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cca552dc17e1088ffbbfdc3dddecacb8fc25505
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391db88c3bc048709e921000cd439056bcbbe8b190781ad79560848b82629c6d
+size 1420483
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e2017e79cf4e45dc353db9f0ce6ed500960aee6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa61378b5d4148d13cd1cf4f48c060c2fabdc56738854214c98f1dd82aefad5
+size 1535918
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c057fbe0eaeebbced77ff1bd21444235e5b77fd4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1d4a9de0ba5575bf16ed9e7a71fc3d8784fe8993448c834d3c9d020bbd4f6c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..000ed8e8c0e8b8488d829f0fd5f1aae89bb1cc32
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f541a5b9d7912d3dba40f25c7181614980f1d6bf41b8c207c79ff31451f484
+size 53476
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5300a56cad1d754fbbf46376efde5dfda2c0a9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a62b28394843aef07849a9356428f0c223143c372c1827607bea76fc9251957
+size 1426270
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab57b71fa298e52c9bf14cd42a26520bbb9252cf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f40e30265530b7852bc5fc15631e26613787011278781d392bb8c37d1e7b00
+size 1532046
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4dda1e536670a33220ec43878fc4284ce5381d73
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73f4de1dc9bf0a11ae0a0bb2a87abd29943f34f75ebcd8bafd55183d71adcb8b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ae2aa87592cf5a362d528461b47e8d59e3aeb7b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4104e1e195062e063f593051d7c4646f2a4ca00d2a339b5de4c8c8a92a7b61
+size 54602
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fa55b07000359ada30d94ac731331560a67c709
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00020/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b0254b10f61464118059246e63037f638eda760e01593eddeeb346342f969a
+size 1426218
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d5dbba24cf98e1528c238a276ee48808bb84d4e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26750156cef0c2f3c37063229a063453c2fd2b6af51bf6bc2a16b7122471e8a9
+size 1547032
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76409214f43472332f80b164f3f6f745d959a758
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75bf8fc226c65521ab1334589b983eb2a2674be4757143a6eeb1466f3130fdf4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..67183731ec4de73dbb9ffcd80e440dfcca2b42a2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5228e706b9fb99ab88bedea7a83d60b3e513b6decd74416d441d78100cf2dfe
+size 55474
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..90380cafeaa951fc9ea6445849956b19fe2b5fd3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00023/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7174a142350ff33cc3d8ff800dcc1143050c4a4eb3c6c3887317c556f92ad636
+size 1434823
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad73b4668d281945f17c5e4cec59b328bf512b11
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6056f83c6f1967977d308e13ea865715d674e1d560511e83191cb5096b08b7e3
+size 1557044
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..760368389f57add73c8a59711ee2867e15f6dbf2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be6c074865bd6de12dc596679dbc8471e97232ef8f0e252346e2250ce0f37aa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..de2fbcf8782c366d1e977f75cf44cb1122c61e97
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ff439a7f7fe8e5fc56daa408785497553e757d69da2953410a2b26fe6608ad
+size 55343
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6eb744106689179923b8f60f30b04bda5c6b3b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c50471bf399622c26b6e4dddd243eceab7669c6ffbd3e8b65d71a8d2fa356f65
+size 1446963
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bebbc1060e09bd439cd541240a8402e80f9575c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e0ee137c6bae063542176319d8023c846a9e948eae66550195be9995e1cf02
+size 1545104
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a0fd59d3f00e772fdd7c2e01d85e0fb4ebdf982
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1cd1d7bbd9d5de23cff1100f3b6999813d6cb2e73fc7aedd3f12cc4e4b582ee
+size 1538618
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..387c0e4c19664754f3ffc72667e22aa05cf2a927
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a899a7f7c8b5b98a8ad069c27effee00660010f963d7b807142c0ba85cec02
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..82a4cc34612a05e46b5e29bf33c31362692e9cc3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d35e6cf50e52ee941698c4f3c8c3a1194f1f27e912d93d656c79b1a139b6ba7
+size 55988
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f387a0274f9bbf005b179f81def063a44920a6ca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00026/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df1f4a3ada136a7bb41f2369eef0a259a4f4b6c351faa58d0859530f9b3d086
+size 1430289
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7efa30aa6d0cbd627bc9964a1da723a25afdf81c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7afd5eeaefe371301f3c7b71a2db62327f9def05f35ef1bc1a58af885fdb7a
+size 1526414
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6129b67c42539b5fe652f6633eb7ed9d882c9a5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e073f761bc0428be0332761d283d6975e5e3989c05805748ce9ff6c87a8a4e3a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..66970808a73070c2f3d07b1feb80ac09f35f3406
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d78dc89d2c9f966a38f30616eb2194ee6d44f2512399a470f09851c37c3044e
+size 56915
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca94f692bd5ee3135479e1a54f0b2cd445bf75ba
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00027/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ea8429afac82a0f91a0246f81ac53dc98e0e5bb76b6620700c4935a43cf86e
+size 1429522
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..525093923565486a0831a2f1b1cb534409ef1766
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83e5d0edb3c65911f87889230ea982e3ffd3d540c3af8063089ca589759dae9
+size 1543836
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58be22a693560dfaef39b97aa99dcbf8649c867a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51bba6240b7f6c6082368ea365e530798f8a99bebccdd2122ff2de966581d8eb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2735c800ce8aeb9027598347027fdcfa5077637
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ddcdc79b08ec33728857092f8c4ff626a5173797fd1ce22c10d2de75f82f8b
+size 57997
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c22d28b509e19627e2068922189746f51235c98
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ddbef1bd1dde672f6a93191eb42c36a256e134b7d28f55b883d7679d06be87
+size 1427212
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e406d88da92bdf82cf884fbb86c4c3f60669fb1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:783cf94d4ce381130b787afd2a41d70047957181037d5f3f5554090f49bf90e7
+size 1528219
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef43562d206f179e5365d099df1d8209a7dac99f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf576a1a582d626d0482e08a033f5bf047dce988ef50872bf1908f41abbc198
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a1808868d40dc77de0481f97d88ee03acb2bd4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60daa891395814d4b0ee879b42917e3f9636c0023b993290936e16fd7a16f190
+size 61823
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e274134c8792f78cf6b13d6b0f685f523e605b07
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00030/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b662dd9ac23610fb7fdfc22b0593a1d7ddbac9cd7adef55a6486c630541bdfe
+size 1425677
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2baa18c845c0bc6397af7f39fbdab33c81a2b0ab
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3e5dfb053ac1b14e194d79ad53fa0bbfa6b99d193f49564e730ab671fb932f
+size 1522854
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1af705a3fc9d4b546459c595a673dbda212bc358
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07cf6f62085e22ebc6dd0dd59ffaeb28e6b0bdbc91ea670a8e209789e3db69b2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ea4eb07d0cdbad429524d9f8549a4fba98eded0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206d7f6d9b5a5a639481234e8e777f0b5f132c143265dc6061514bb377148b51
+size 60565
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..989ea3677184b420a1a1e89789fe07f9ec69a398
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259806ba0e0e72cfe05c3c74e2c7b2d3f1d128866b7069ffa3aff0637a1733ee
+size 1424909
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f990721d465fa8d5b402b4f626d7ca1af917682
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb348b7f0daf72ff03da8ec14fcfbeb3e64bcc9be5db7eb0ae69e1a58be1a9c2
+size 1501970
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a308647f470a4b3ef8b5a81c3cbd5cec56894ea8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dab845c4e23c24d266c25842ed60bc136f5c48edc3a5d61b65f621656efe51b0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75122ed7ea892fd784dacbde8752b368b2823a79
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faed419b9e6b8c9bc35eec4749d99712dea01973ab78c863b97863b7a37dfe34
+size 58900
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..454b407f83cc11f84a71af601ac0a1a04fecde59
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4661948e4793df8ce220e720fbf41c6eec84181a603aa822868506ddd05838c2
+size 1427081
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aa09f6b18b7624bc8c9c536aef300678bc5bc4f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564a7ebb367cbc2e249ea860e3f26b7d6b061cd4d1c830eb950944c77be97d48
+size 1519804
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..94fc1b28ed9616c325187b1af67abcd1c275735a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66d50f9fdfded8fb7aaa1b3b0b5bb8d3e989817625c0d38dd927b88726feb1e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee9ac027c2e4f18001dba573895a5cc93daef40
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123c8fc87a1c7f14eaac1d2c27ccb07799c646ac48d0ec301ec03818b3e57eb9
+size 57783
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1c75be041a5e7fd3497c840383ca36973765abf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00037/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1723bdae8e10d5f91cd8cb0e71e6f5de3a0e1f8bfd9dedf38dc2741d3de3108
+size 1437046
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c33fad246b2396a0654601dbc32670a5277908c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83fc217a5cac5a76fadd18087546d7397a57d53bd9a1d05aded94b934d2df379
+size 1509635
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71dd17c4dfd23e4d720ecd4688c29d1a4e343f9b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389e4aa27eedb9257daefa2d59183b9893a2bf238cabcfcde92e1f9cd7a5645f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d135efc89df94207bb99ab1b336061e56a3a8d0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f204e2e1693e45c30cbe838491f0c604c355be232a40baafe226d51afac702
+size 58031
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..106e982e7e0c086f675dd28eec6e429e6b333841
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5fbd53c3a3c2958c500c71410c1012d37062e64027f59203622c850757c912
+size 1438052
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..681dacaffcba4ae32c8ef712eaaa3e8b74a035ec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caad48f51fc5d1bdb00a4da8c349e2ba95d57ec32724f6939bb5d7ed186193ee
+size 1521116
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7e5fe319303ded3ddb8bf5d745d3c28d5113631
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592962f29a718b0d63ae444e79759ed628462e08c26aba6841b0c25e6d8e3bd3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..97b9f8f5f37b230337be0735ac429ad1369a567c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b5438643a9dd3a62734debfd549ecfff70513ce7df1495fcb3bbcb689fb97cd
+size 59515
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c20b04b6724c6125d0bfbc3f5d749f964eb8deba
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00039/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009e03a1d7c4b94a643a5971bc3038eb29121345bdfb4ea0d65b435afc09efd1
+size 1455060
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e894d68f69d50e10a4f60c2f1b40cd334529adb9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcef00c6df4595240e193081f74978b617b9fb6d22ae2e48389bbca87d6a72fa
+size 1540142
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8f0b8cc776e892aea63ce5d93aa83d8ca0e5597b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9418dce865f31b2e149bcafa7bfa579b9d24651ff36c1b462be3709b6007f18
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e8b2fac680f374e5d162b4c7e9887dee4e3bf46
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d86a16bb152e431071626f9e523f1f8f50803435a83bca3adad8d825e928d58d
+size 59933
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..65c01cebedf0a1d6ecb89191bafa87cc4c607354
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9a8d4129cf3b682a5864ff32fc0ffb1156842a206fcd037cf83d39a0f4113d
+size 1457094
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7655634f2d61ff9ee7c19d06b36e8fa3d0bb144e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f7eb56a16947fbded0fb411b7690519f391bc385fa3d8c9657f1c761d5c8a5e
+size 1544990
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a8255cb7a8a0b757b5b6844829fb35f6c435e18
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0ac22da417f7718101f64d23bebfdba5410dfbb9b2b76501ca52cdd3fbca66
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..766479a8333a897689eb2ceb708d19391551fe56
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:357f885fda5f36d603c76c7b2bdf083a8fecdfb2b1e8a9bdd1f0b86b5074d4c0
+size 59643
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..006e9dd11ea3a0260e90c00a5939e6036b87ebd4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00042/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6959353aced677e0b0406feaa3622166ffe12b424baf3e61cb9c5cd86e740908
+size 1465521
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd0f43fdbc2fe6d310031f541d150981d8f870b2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06aeabfa56b37aecda19f403cd0d79e18455040c47d9a61a48ee4384f1eee579
+size 1563782
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f6f4b5d0f737d2ca2f8390717f0ff92881a6667
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977186742447273a71b6728f0438f4950bd52cfcd2e70b679c10b128c19c659c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b189c77a29b98e0d3ff3e874a43c73143f7026ec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740a48d217336a47ed2f707e7810d449c51353cc562f07fb8925a3c2d4754b43
+size 58860
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a54aa42d0f8b7ea7c9b6df0b467933f9c94736a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e05ba1695417dc71c24012be3021302e51af3034a73215dd7f091569cc12571
+size 1478463
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6831be61021030e88e09b4efd78fbf5563c1a6aa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61be6afc378ca9ae2cbef116e2788dee5d14c0c50c17732c3547b167395c9c7f
+size 1551131
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be2e48a0e270914840708e93d7bb38a00d66ad4f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc608c621a29af1e4d6167cbda7892d72e9091ea11c1d544d9122bc930981b2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..86bca6b7abc4dea7bda75fa0181d0512cbc8ac1c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0b54aecefad401b935c0e5e0b0e6f679b1b64a9fff584ea7ea8c038653dd24
+size 57387
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..481302eacd1eea9af1e3d9912c65ea4e5681ec29
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2ba2c1d98c6ed68eb93ae81357b6d292fbe0f01b49ba48ff8ff9cf06b3509a
+size 1469656
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..76c85634f02718146c4e1d826f906229520e63d2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5560136b96146ea49ee8227b735616c8534b11dd0c8ddb4617ecafa81fbc534a
+size 1554140
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69c390bc0fb49b9cd0398e5aa8b1bceae0d4711a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bdddd6b6ab7e189166478ed43c4687c2916047ce97a1dbc5d2b99b16ba0284f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..febefcc0eadb8d1d4da63c2d13595558ed3f9c61
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee74d96d4dbe1597ba377812a5515942dfb89c58e4fa2c1f297b63eef1bf735
+size 56040
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..17aa824f20f74d5f875b7720c2c0e388776df582
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00045/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f7485ff3fe06581a09006c291e892614b1f91354ae24740f58686b38bd60645
+size 1466179
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..826062f6a6432e8d7d5cfcafc91c2f930f322c7b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7a06991b64affde26590b750e41ce6ea010680d1261b508e524203fd6fcbe4
+size 1568241
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b8bcf0adb42f33fddbf4e602a7f00bf148486af5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b16413b8c58ed9bfe9cb5478f5e1a8de7336def3de9a5c2caffe57c74c3f58c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cffc45b7ce6e7f7530ec41ef3cb059a3ebdf7f4e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da92951c4da6302fc6786b6c0933321fc3f59054fe35cd32c2ee02f45fe7f95
+size 53325
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f34068b0842b07304e232853774135d5e5c9cd63
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00048/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a790ccb09053f4970a7a7fcd57649bdeb0cc08e868ee5cff9b51bb709cc35da
+size 1462622
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..80317f74a8ad15957a548f3ecd58baaf2e4191da
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4a414e506772b40d974503d897f9e588cfc223ca3c7ed1a137bc45598adfde
+size 1588409
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eed85832248992c0fd0ea37410297800e120efdf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9ed39228d9ef18e3864fb8c7bfa8bf7f8feffe5315b098e49242d5e1b4f7cd
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72ef6015924edb24af9ff9498d520852a497302c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee89f17cd5ce0b004c51784d841bb809085b7e6c48a96f18a72748ae78e5cdd5
+size 52553
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd59ff61b55be8f4358a0db8f260b634472d95fe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00049/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1864619bf5d3d96516f28e6597bbe0a940a9744d71e4f89ad53cc56eb32bd3
+size 1485515
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6888cb859795265aa5a629977b985c7b31b6f7b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c92a26d5ae23a6c78a77e16db5283dd87ae4257dbd878d605d220acc08e1883
+size 1575738
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e6a3a593a8500007074fe7c75e1293efd888515e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97e246582469ce6a9dc510eecd133d6b8f2d0e82ee677abc7e3dbedc1ff0aa01
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..58a4a05f7b1e959f1bc7315a9cd843e698d07e86
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82ef3ea56405732829823017ae52f5620efac7c705bf8f09ae26f23827ea809b
+size 52072
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8240b89f1e47d94da97efac14aecc475f7feaf8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00051/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11463b355624b8c0f51621b99fe50b34e7d0af327f55084c4929a974f60b665f
+size 1468643
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0be170c927cd80a9eb2062373b2d0df133fb9d2b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c800676d0ce81b420b638c2a47853fa7f2fc54444fd7c93903d243548fbc557
+size 1588383
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea5e3e2f188a74430196648f8626dbc375999d93
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23fe1dbd5c6bab8a3798f3e7ef6f7b16434d1024c88a8e0b57d647a2a59dcc53
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4d338a1e12594171ef10918bffab90fc5debb33
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49a77401d5f6d5861ee0fc3436f83280ccf3a9c4d5cacc44a2897b43ee24b358
+size 52584
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..779933eb19861b6c2498c85e34f6c22dc06d0c4a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00052/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d02dcdc5f30d58711c3312bcf6514728ea7d28338d462eafdffacf9dd7e25b
+size 1472475
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea8da15132270a005aca1ed15f3067b87fae8f22
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828651013e4dff78326a15a575e91b825e67c49345458a88eaf6017e43de37e9
+size 1571632
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..826658c16895c54266e6f80526a5c73840b5ce14
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8234667653324017d7f1399ee0d337706b397e805a2cb11a9b5772e5abab02d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dad2321e8c9f549faae17e387c1a2d4ff527844
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa0f3a6dfa89f96c8b8a9fa9482cd5b180e01efe7b9da2eff9f8bfad6d324c2
+size 53795
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6666d9e4638390070d290e3723b27ea8ceebde1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6d03e4e4515f7c971ae89bfee38acbec185c0682bd0f9a4aaf427668c48b00
+size 1471480
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ec1ff840f9fa66b32d595bd04c6f1d73f709df9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3fade86cf52eeac10ede76d74aa9af8b22931067efc42a8e0139d96eceb72ee
+size 1581070
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..748d12fe78e3897564aed98d3e4ab8a2c2d22347
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32cf479bb1ef8a84671b010a9e08600e6305073c52eadd47ca807658965beec
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9deffd83526fd611a60c1277c15edcf42eeb22
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbd9d4c10feafdb64d640eecd66b86403abdc23eaef54fe795f009cda148b40
+size 54698
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb077cc18e71dd41810dc7e73b9e3438bcc7bdca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21cb702ad057ae581d011a5ce9512c4159345defeb17e266a76d587bd9a5c06
+size 1469230
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..985155933489071cf657410a1a8f976c3b2db2c8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94e2f2cc51c78ed86b7db2cfb30c5af07599bc05f69c9fc2a986d091fd2057a4
+size 1586588
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e1aee28920c3c694aae8c8ef8feaa3a7e6326f2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c853e1fb001110444407373e04d18fb76431ae400e7d1e4221e50cd3a96a1967
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..906cf18ef1998ddfd6eda4c71480e1c33db5a467
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baab138f65ee473585aba9e6689b228aad5788d545e677c4c9f4090816ccae44
+size 55450
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..245c2ea94373f7ba105bbc6a68765d0bc6991310
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00056/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5ce17f66ea3d3e949412e65ef55815d064b837933b64bc214b641ea0da214f
+size 1465440
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..528e40ab3fe7ceb98c6d2a0f78fb732dcfeb5014
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7cd454c367c8b0100565b701e294d85b1ed28c700635a3609e2ba443f938bb
+size 1586764
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2de2ac8d37b9619ecdce0cf62d496e1b363dfbaa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c801f2676f5026ddf36510ad4cc3358468e9c67fd2fb3399381afdc9a3a09f2
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc0a0c29537ebceb4797bfe35c2d057085d665c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb92d85029a3140edeb2b0f9533080525aec68dea6b533be50946dfa400b706
+size 55148
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1387eeeb866f738a42677d4e51b543141c1cf853
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f51dc15b6ff8301e64f857bbb93deb883f9a7baedef1ae9e1de8face7b9c308
+size 1469547
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe070f8b5c9d99cea60fc94f2fd9c8f72943d7ed
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f4c81f2473ef695fea52d4b073a6b74954a6c94ef1de3abe53fe80925efd80
+size 1589528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..02d614c422afe12f63b6a7dc79a48af5bb28b428
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e3c4152917c4b27b7c61a5d22ab764bcb6406e334b62457f7708a5b04c0a49
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c557a6bf34c9d4e47bb3a689bfefda7d9df6472
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e29d543aaa7343751cac76a2ef136ea0d20e9f002a093e47ecae42295afeef
+size 55528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..09e342cecdc2bef447e2f832352936fd02f91012
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f4b573ceaba048c79fcce3bfb294c3a7a9d36b4c773b50d8df8c5d569a9586
+size 1478756
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62142528abe691c8199a191fb7148bd131e02a8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d90096843fd68b57a11ad08d7af515f7d7eb1e2a87ba54bc45fe024a6c06411
+size 1593483
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c66bfd174fafe92a17378b68dffc25f92f8ecafa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392b48f5d226e6a49a25f55803835f8920b0e52b9351cf356957455dc65b7e25
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4739fd995b777577418f5ceb56a57f931195bf35
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee28d7a1a88a09bbca448e3d405ea645db82e4dc100c95e3f4cede389fe65c2a
+size 55030
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..48aeaa31248a341a9eefa83ddf08f4a5059e4ed2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa1a202c4381a231c3f294600e46f00b92bfa6c8238a716fd23c72b547d524c
+size 1481007
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c9cd08773d902bd624d184cbc3cfaebdef2e88c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d3f2a0c22257a839d7fde06d7fad36c13b46e1a1bdf798d44d7a75779655c5
+size 1611317
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8aababfa570a731ea476b854ea214564e05071c4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05c7e2a4097d734e407e5bbf8ebddd3301cf9a03150b55af17a41021083d533
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7142769dd52c876b838af7236f4aa3b4230eed6b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ce7ab7347036d20742e530c3cbc6b87650d0144fd697b6547a0042cf98f073
+size 54826
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..05798312deeee10262e4d614cb0597c08205b161
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915485cc7946dc6c6326fac4f5e7f849ed63315e2d19d5b888104376583a53d4
+size 1493378
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b861487ee4e9633c2b9f9abe35b8443469cd6b96
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aac5ef345cf170321eebe22dd64f7ce888501bdfb28e2220f78ac2277190f09
+size 1617795
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..89576eb4aef948f293556070b0e6086204ab0dce
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4990a6fa186396500123364e4fdb20048b40b13f61a33cff6d1c1106b1a99037
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1a385b604f0b7c1bdde11873df4050bc05622eb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e651bf03942dfec99eedfd98d9c06fde9ef9854b30ad4271482254e2367a1637
+size 54008
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ae85e52fef87a0d5ec4ad07fc0df752f3fbf306
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab10de1972ddc7accf6446ad422fe852cc1117785a186cb3aded59174c59d524
+size 1493737
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..53801543b72105e1e778163250b45f8231a01caa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e857a946653ece03e785f19e36b60905d9c0a2fca1269ed473f15b84bfa6383
+size 1617988
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6411352e50c1603f7414c127536695f357db7608
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f39c66b3515773d52dde8f6d6bff8ba2e9e681218f524a4d87dfe0124ee956
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a04c21d88cb0453806d4471bff05e3a332c5f95
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e3ecffd8e1a7f7551d11a8ad14498ab2ca676069eca45471f7faa5dad4ae71
+size 54737
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5da37b56b4982a0d0e62c995791187506f149d01
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00069/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38cc9c56acf1a41cb9286c15fd83be2d947cf5d54147992e8a57fdc4c4208ea8
+size 1490798
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc7c540dde928fd22d8957735253630f49ee6243
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d8db50e4e4c7c376d5e936dc5eff39f2ce9c8fa52ce13041bb4bb0e60bba81
+size 1612511
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c010843d6446b0835a1bbb76bfa499dc12881175
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e95f2726975ab6ac14115d0bae777d9ad93bb8934e4e8308a0f9deb8838672bb
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aec328fff0a8da53c900a903e55ac71ca026429
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70380368f1d628345fc915dadc96dc81e032b55805e88f4a69fff02e1496586
+size 55271
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5da9ae85ba8cfd04cd096bb4fb4734a9cfd76000
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c9eb8a2fee63b48bf8b884baec9cc1b2b49a15a129a192803a4006bc46ddfa4
+size 1492629
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..efd3faf64daa1b63d83ea4f912069f9339711040
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63fbc362f0d2f83c47e8a3df1cb13dc6c898e4c1a249a2cdf3c282e49d9c90f
+size 1630755
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8992405d5f5319105d8f594d4c13ddca52f7fb12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c475590e3b28091c555c5c44b60aeeeb972eb4040b11153a4685f913be88b3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4906b0f83cb0a105d5abc0d8ee688b9e4758f994
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94cdb50b1db7959598f7d04dcd20eb539633af172ac7274c95a8474870833659
+size 55921
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1af05d25b43e18f8750079fa5d79ed193cb97463
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4af9ed958c72c23ae29250b5a1aa80e50620fbbc18049eb939e9e5c39d118a
+size 1499792
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..335ff9931ed126ce3aafd1cf808b80d65005a5fd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3312f03066979b5021588fff0926b8825430c6bd7f0e110f7b8ac4355b2e4c
+size 1634074
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..12b464d2c9ea913e8ee7db800478e665da390190
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628c7010093f1d138be4563c272664eff6f8f4e62016023b2f823b01cfd98570
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa48ca856d691d0161eefa369a5878e50e844381
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839809899f38f77ead36582fe7d958981550710d28820216dda3db25d4f279b3
+size 56410
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bb2dc820bf175c725d7412917aa066c06548ab4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00072/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e087dc5e5dda24ecef9e4789acbc5082173bea47072b12fc0ccfba10d25aacd
+size 1502105
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e70c5598f3ee9edc2a35fab4f4f4adb33e70097
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38030eb02c28bff0843a056ac8431ee4906f576926ba9b278f07ebb15a899f5
+size 1636854
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..300097a69ad97528827ed1f4ef51bc8446770e43
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60959a3ce8df293f1f00ba20dc2405a48f91ffe0e1e301221a34ae87037e537
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ad37c8ce02e74f578c8101c4ed56a215b03c821
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:274d6480bbf772e76da2f12795e103360eecbd4fecde435c7473f5aca5b23279
+size 57811
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d5e9138e21e83954f939559dc4b35a947ada8c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f89c22815b2da4ab448b607f3136ba2f6224a0370c3323fb05a13d7bcdb95d0
+size 1503336
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f042474ab529cc970823f593bcc0b9f316e3583e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3c296a53f508f77a22beb3b965f3f218258af2be543b08a073e8ccdad37826
+size 1628865
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e4ed99ab32e6cb06c4a8d7ed3e6a0175d15928b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f047ce2e0609f6893c24c5153c2a1a794e034dfa659e569ba42364b971ea57f1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5e41f9dab16479163fe001cace0b425b37683d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592a7d19313946f41704663c47040c8b44555c9fffa25008beb6def541f00231
+size 58441
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f3fa6d000b4c984412fa9efed1667bcaf670c6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1654c56df0c9d5691c71514f4a428fc1e3712f9811e81cdddc353e8e3d247f1d
+size 1495811
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cac5a35a3a32f1433e8ff42b0e0693f3402c577a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e44ca063c71c804ab913540e02fbd8555d32c805cb090211157fad0451b3d2
+size 1636438
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b924bc9612f5e8723065d1c03acf79653e99426
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955cb5e8198efd74036d07d626296e9f99bb56bad507f8df3be5fad693905368
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..75a76238faa20add2b6aa41207916e450c458c30
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e7ecb70a00524d94c198a969e937fcbe81d58ca8029bc49baceb5505ec6c17
+size 58396
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..385aab5a69cb897ccb4892c16859aaf39535fe17
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b10dda9e4eb048970d8d893ae7d16ba934c596b7b09cb984a2f095fb05e0b3
+size 1500832
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..885e5a4b1679caf9b7e1fe70a101e33836a02b7f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39d6f2cb04fe65472e96bb2f589b3c05e29b099f78619e847a0bef273bdf48f
+size 1643031
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5b3aa416543473a9d5e2ecb32b9738b8a14e3c48
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e3d169fad8257af8bf6bea622935180e1e000cea67fc2506f21ed714a0f064d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a460f8f06849a7f18abbe72548f3acd8bb2b4ff
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65813a9854a85c4d67ceaac597f4ddd274617037aa037b2125f133a47e58923
+size 58848
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..491b3fbaba47989a256f35763811715ad047f0a4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00077/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59915072b80710be771f48b6c369f2e3fd89dadba20557b6315f31f9d8d193e2
+size 1508576
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a474cd4b7ac33f350bd417e366f85c531c2b6d7e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce35e25fdb52905ebab9e70de2e55dd7527731b1fecb95458535f055a48851d0
+size 1647582
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bc7ea14873aa52dece0094356999bf3dd362e824
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5238e4ba5cfe44116cc7e59389ac3ab3deee64e2257e8add80fe38b96bf395c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b088c3cff876d9255698e88fc445a011abda5aa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3985388b419419331d92e095fa30eb24f1a54f651c3a1b1b28b9c6fe9831c19e
+size 59214
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a86454bb5384af86050455125836af474936832
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00078/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2f140f97f1240b04af7891d6ca615c2fea37494efe9a4b670fac0de96305b6
+size 1510569
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..be17f82ae89e224224ec37c525c99cf6f211c4b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41dbff23a79c2d68637b84fa471b5cffc4c44eab8319239189d33365ed2ca54
+size 1650763
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..37f155ba19dfc8fa0f3c93c53f8233397716bbcc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:455bcfd8222fb115aac721621251e8e47845ffa5139873ac0b4a4045386806fe
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01dd33fa5db8aac2c7f403d545f6af38b2ee584f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7258bb20f41f5ee37a8da56f64171f00f2d1d4dec1ac82024f9c43e143ca0dbb
+size 59378
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7379e9bd4b1a9c5eb3dd630ec6786ea6a73ad574
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a76ab54e4452541a7ef963928add03bc1d5e27dbbd4312c166f922115e07678
+size 1517549
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..74e002863df0c0b03f9840fa6170a6e0eba4006a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd8d3404109bb7c0db1ddf40753be9136d93f32387a8bad6b8eae78c0b4096b
+size 1659505
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3dc68c3d2c482435abb4763e8538d86fadcf6b49
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafd552b7c5039259f030c0e823ee596c75fd0826c6680a8da4666295029a3fa
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d56b686f4226f3555a025a70dbc164e10a1bc69
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f482aabb99cfc7be5a3b97b38f4e0ab5fecb6efe78048d43b85d843a93a033b7
+size 59000
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6e02c17bd6b5e69fbd753b241220b2224f8a641
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94e8427ee23d02f74262aedc1b6eadeedb0f6aa5d8244a4e53778784581293a
+size 1528259
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..084a8e7fc3221960e229e7cd6545ad9ec3670652
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7138929fe032c96f08e2f9ec6ae0b413522531e735d53b78e132d0d33397afcc
+size 1672856
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e5e4e2e4769b83d20162a814e5e8ad5316e6e9f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1970f5dc95b6adf549e8f5257a79b5ec6dd3a922635e27f9a7685818c51cf611
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c839876d11c6381b3f26eecccb84c4eb4a89f95
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e58be4c3118f3b63d9b8b35e871b2d270a7b372d8a5a8a5b24d06444419b53
+size 59111
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e955a51f77d555f69af910d90ce7a9de5f20e42e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00086/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dbd82b39a97b2d08322b93b2c970617d7406e1300efe8bdfb5b5d8d313cb96
+size 1516049
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..38da63856c628e2a30c6f92dc870ab71efd561d6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:491498fc4f0bc4ef3c057abfc17ba0b7da6bedc71348d9b9f9b75276647df312
+size 1669217
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a80097da28432d1c84503491251227c3c3b3ff80
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b673b80613b4d2506839c79ac614304f8b481b7655a8ffdce85cae27a2852c6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..99648445c6b6d597aa02909bfc96fc253fe03748
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0443de68a928f4e8e92f186ca1022fdffd996d34a7cbc141e1b52257468c218
+size 59669
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2c5a47c5a9c4300b5dda147ff44581252355b35
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f93c66bc6a69ea0782405407207ba668ac0e77adb86ea4110d1b3315230d73fc
+size 1503747
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4edb2a3bbc170397b1ebccdfca3f5fd0f1e41365
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2314cc97adc9c0dd7b8cf34d5fd2b80e9f766cdf3fb9406e0b2def3c2465b3
+size 1671820
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8a6b8ef7702b2dcf4b0bc1aaf5806c774a47fe2a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc1de0971cb26377959f1973776b7a92604a035446b11728bf9323bc983bd39
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f2c9ae05c1a61194211d91cd1df94a9a0f86f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75620c8ef88c0efe15cfea974185ed6085b4e8b1995d5f6b8d03a9848142b12f
+size 60875
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..030f3ba01964125a498dc7880100e591c6de4111
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00091/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36c62e5e61a7f71dfba66cf15f2fb218ec829329a58ecc00f3d9d881e7afed0
+size 1505412
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5af30e20a3e598893918783ec7d7116e32c4c5f8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb8cab88c1347a5e675a3987fc32731d4b6244ed41688dc40e8aa0c1fc64cca
+size 1644546
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f8d621e7717e7814b5573847115387a21691691
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca8df8141e5d0011f44c518ab0304204dee42182c8713cc3b4029daf5e38d06a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f278306f6fb73b68e311337a7d5c83712d43936
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ac512dd79ad26bab609b2c68439636adfce1951179b1e0854422aa4da63e97
+size 61291
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef35ee8635658b1a77a3b3a4156c98f5efa90525
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aea1a8b4e480a4c3daff8b4e5b88dcee17b3b814b9140ecdf875ed6866add3c
+size 1485877
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5055aa4db48e4b454860d7552adfe1dad9b5f11c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326e8401998320a4aa2a9036665402cf583be416a6256510d3a2186144299d06
+size 1651328
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..08afdf30dfc419c168e8704319c40154a0652933
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd2d74360aba17502db86597b5c6481c618e85a9718ddbd7623280d571841ee
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8739d3b2df69dda8bae4ea41091a6bb10f6feae
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bc076f8f9c3af911bffc20fff112552005fdaf06455d757da94e14388a87c8
+size 61497
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d50454fc5641f8d8223210dabb4e419c189f65
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00093/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ebca46d6fb5a08941fa4d9f98cc24d25536950ff66c36611b728bd7d7ba439
+size 1476340
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc6f64d1dc50ad19653820b9fd8bd67e25d967c7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd81bf0d36f0404b5bbe08aa5d31aae78fa7cde4bf8fffb7ddb33927cc95771
+size 1656648
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f42cf585b57fffcfbfd9a2eb415d2cc458ff908
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d684b3993a0a5b0afa1e45e83d5a9894667d6cd19298f18140bb52d7c28b5786
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3a382c2fca113570c5c1d289ff7d06217a6ec32
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16be1d6bbda7b8190ac672bd1299b22f1fb9fe1fdafec7eeb693a99a30e92c7
+size 61178
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..765b5ec7ce7d1ca7a9fa215cee4ebde02d3bbeee
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00094/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:843fa33725bbe76fa12e710ede2966519c6e9bfe1b7433242d4d51f965c490a2
+size 1488788
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b9b042d6030e7fd7aa5af9b81d50f66d359f986
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e5c47763b0d3aba2b054a68196b1deccd6e2351e6323f8b7e4eccee888b158
+size 1646565
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0276ac93efbf0c79709ab24c28c79d8520729ce4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0cdff3642de78d902bdf813a5050781bd20b7f62e8d424a795e0c14a7f27d18
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c2a0c8d11aecf0aa198e0b44a46a8e4771bc339
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bceba990abca9839234e438e41a05ddd5106ccc695be83a8c99fc168b41ca64
+size 60714
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e627165e5bf374cccf483c1218aefd3c3bfe7e5c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54147838bacec65f46060449296eb814120e6eea0303afc568296c976e588d8b
+size 1472386
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..267b4c479a021bb6bd4277f36ea67a0700b80bfd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efbcc0f991d3907a7e67fd0d5e8146e1eee834fc789f5e09d4444e98c739e864
+size 1644480
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1697c71db8afe8f818fea7dc3b0444d8e2c809cb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a037534fdb2b43a9c8a898eeb230371e69e421d03a96d9a402448baa83510361
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..41a4d29427e05fcb163513624c5ca6839c308c49
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4d853395bae4ee56d929ea1ee3e93c035c9a88fa276ded8e413567fe3610fc
+size 60535
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3962fabdd24b224d01743498b99fe370597786ca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5684d2a5d155ee52ff39f398eb16d7cd9d53e00c7f2969e325f95e83d53985a
+size 1469650
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e351fcb8aeb9bbb421530b9c45a80cc1afb4a2f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2acf713b8293238277f2fa6eda98f1a94d9bea843914cf61913f75545c7431d
+size 1659974
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9ad9d5b163d3c3e7ebdce107385b2a9229277199
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff7543c9577e4798eb7117b2403ac40c8d7316ba52bb8cb14bcd1304f90183d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..692bfd75f3d152d185f5118aaebed4c3b7d5f7e6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead12264a3b986b2a6fc89a2610885b679774450f734dd2e8386384ceea36623
+size 59814
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d7e16d9c4dac0a9c883cab76171a9e444698c9f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00097/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5675646168cee02b918b316c6d5b61209646d4dd0e23d6f24395155f908dcfe
+size 1483862
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c624b141dd076e7e2644a4ed11c76385f5e4a0be
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3bf920d4dbb2cd38dbb0cd4acd4504c329442bb30600f81b05a64e9c230b8df
+size 1656068
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de8906fc225b574438a206435705ff7fa74362c7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c631ee4d7c43b9ed3cfd6e2f7729ba790bfba63c732df661fa1fd6deafe8e3
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aa609134cbd320db7f5fb3af82938111eba3459
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59e2385a4f5be615ec76ca0831c20a06b8a159ee64a0d83a2bacb550358a625
+size 59825
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbea2c8ad1a9994a4ed579aec95a02cd23287075
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00098/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06df41e0e7374a0ec51f7cb1e920eb5c01c9cc13ba8aac02580bfdfafedccb16
+size 1466848
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e508cdd72c6e66b658cb01eb9ccac3337f00cfc2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2922ae34b818cf96b10e1c9d73a3c64af9d9d14431963c7875619c408c0bed
+size 1650970
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0e0a83297a22f803654e03628669ed0a496b15c0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fa4f5e4fefefe5334be47f6b0fdec1317fa83f788def2bcecbaa88a2f63223
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81a3d8e7c06d4d011a5dc1ebc81415e03a74c48d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea8ef67383c3e2c2664486189a2c2c9a57089bb3caee2ea172ed978d7f5151c
+size 60019
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..70ea59efcf832fa6039ac22aaddd18e370349f4c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00099/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6b467e1406b936a49ec1693182c9c0225a2c4fc8026494ffd17f99a1d12a76
+size 1472948
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..02220518b8cd9fae913bbee397a65bafddab6e77
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b058e3f8fdf6c6f4b6112197fc0e71a3cbfa29a03486e4bb96a46ba889709f
+size 1664453
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b73c6dadf25144a4eb3622db5f044f6814201866
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd1a4773f9760e5f37f6d5e86ae26e3b1a414bb96cce4cc1c3444702ba341ba
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba837b6bb97262903155cada9599fed1463f215d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f485408ca4f263b0a27e063e04894f97743bda343d099aa1711d9146d828479
+size 60572
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21dd96a899f3d3f41122ea1270f958ded9e032d9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d22d9e0c20bd3b2cf62f43be66c2a50439333472ec249a5a15c777ff60cda5d
+size 1473105
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d67150ba49a6721e349b906bc1493f1b430731e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7976c04f3a48a0ed2c6266df0e74a1ca9b230dc3375ef5050c32a97a058eb034
+size 1667546
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7c98794139e225ec2bb0c52abbd6421018217ba
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896f69665ff5148c3321a4a01e57bd75aae71162654961fbc6f6c186cdf1ac9f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..76df660d9deefc35bda06b35816bb7cc49a5bc7a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5571588cf87ee3e9fd847e3727655306e366c82b908b076ca50e53f7215a965
+size 60294
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a19239004229257388bd65eca29112efad7b326
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00101/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb029d12032d3c93d4f6a71fa812379b0811f70af99b122075133b15be9d6c58
+size 1476898
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c44a0981123274e869e5cc1fc9967bf2dbc30710
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48277148dd614d8ff8d7afa5b4bd60fee0361ea31afc38136199a2482d0fdb3
+size 1667189
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d32f6bd3004d35b434f87c5f05f9ca6a252ec6c6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4551dbd58beb3670841060899d8ea1bc9a9538264ba707299a102d2b30d51355
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9219d37cdeac9281bf1323c6d8e90aa5df9f552
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16616f799c6358c0b0d09c9420e0160deb813c854f7842455cdab9fff03bd33
+size 60739
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..105734371fac767d74e4da0b5479c546696821f8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a2cf77067d8b02c9cec415fb94b5f922a9e3b9943ab9499a582ae713ede4b2
+size 1486081
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..771bbfe64f52cfc8e032a6b3504f34b3a7b17114
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993707e94c9f091bc9d19f6573a02a9551e54a9ac7a6b7030817eb14ff731a85
+size 1672009
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74c8176014fea4518114e6c0681df990260b51c4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fadb8cc60474025eee608ed5f954e8fd77f8299ba53a4dcf15345a6e46185aca
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3c5ed9edaad004f734c0b42b04b5102f944742a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38c0d63acfd8321470104a6b956899039ab298975621b84131bdc9b0648163a
+size 60864
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe125d8a171f11d5c311278a4a6c2aa2bc3d18da
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00103/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9374552b65a14f1899f31f051c2b55806a4035a8475bbadb760edaec4bf4dd59
+size 1494041
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d18cacbceacdc67adfacade35257671182cf2b3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a83888b7c6bb7e8760a08a6b2dab0a95b2264970bec7cd4669d39b5cf92b9b6
+size 1692485
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..eee71eff53a1930e8d9d8ca001922444c85869a7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22b01715c21baf563b0844aaa5f399a2220943b55ef35fe27c2bff515bfd64e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89505e9f2ed063310802f9188698612a65bd5337
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4b4d0f9a9580620bc708123b9261d0872bdc1e2e74e3ac76c72849d39940b29
+size 60803
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b68ce334a003c5d511c01e8d71041ccf7a08182d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6790b0928f8f0e0816d5d3cd37982eeccc6872421ee284ba467c5c3303a014a7
+size 1496624
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..00120db51993f1cfd8558c2c8d8dca55c86b51b7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa35c3533dfe965642f8a75e08059434efafb59235f0fa49d4f91754c4a9d9e
+size 1711265
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ff3748841c1a68c2974d96e25bd9da10d3945448
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480e9d638577a0edb3ea4c33cfbbf00138d9d4b76102c00c764e7dae457a503e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d59ff4869af3075e3598556ad44cd270ff421e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d2a85d433f3ef1391ca246a311a833726069b0fa36378aa9800a9725a00f7e2
+size 61064
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..efc2a917eb38fa55fac4249bcd5ab84a13b55ff2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7eb3820c7d614bbbddb7d86ef6f6afec7c0d7c5876273a746dad5114faffe2f
+size 1504055
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b9289cb4d3a74b6a374c69e8d9b0fc3da9b9429
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c6f360724e78d49e47b34a6337b35940d774f0f18fe6b69bd97a3852494b26
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79d39cff2f01afa9d8971b353451ab49ed7b0759
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dfe9cbc4f56d92bae1b4616124c23d0a3ac2528ed0f3e9f0ff9b2a431f38a59
+size 60204
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d138ada795d816589774866cef2ac2b10695072f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1174f8835f12a57059e350fee5e20df08589679609dbe00f2551a6fdc295119b
+size 1729567
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..994f0f75bae969fcabf4e6009e11bb53c4cf2d5b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040f71c89afd55e2eed15f5489d037ba911dd22d77ed3d53a7e63dfa4d132834
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3267b83037dd26446302412f486fcc4e576d2486
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35ba0912151cf7e7cb82d9aafc59be9c9c41df23995c7f727826727aca222b53
+size 60307
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b135c48dde481bcb0a92224113b49915d401128
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/ORI/frames_playback/frame_00107/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4e5ae5212ffc82a4b1ade524ce6e1d0cfd6bf504eeb13c618c85b74faebba1
+size 1521878
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..52510b5af187baba8477ebcbbb57c62d69087c17
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0224b1d7e398ccff9b223886664ec51edc9d1a7b594cafe5165d858acb88954e
+size 1667074
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2542563f33be2ed3068c4a59e47ecbf9d6e59a18
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:225539329d4b523f068d7387c6265dfa80d9315a62c0b20133a4a8e7cc206f6a
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7b9d3ae34ec2d8e840b506300d63759e9f8a531
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a473ec1f70854f6246f3fe8db919e0d739c49142fd97355855e72d7d6512fe9
+size 60260
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3f635b75761592879e458d80e209cd57e6c4864
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb1dc35930b68e05851ab5c9ee331fd4305e28da7f6a06293b8f3322f1b0c64
+size 1518400
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e1b18e12941dbdf3ef896d0e4ae328ea1985385
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166d711491f77cb8357042ce45589e773297db231357ca4e3452773408c598c0
+size 1643726
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a88396948679e761d351fd3e8c10609e010d0228
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c917c8f2fe37790f339efc849ffd7f7de9a6f656fc73a56f02984dc039c85f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05fed4462e6856d7329df28153598f26fbb8c48
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da0cdace104f32243ed73fe67a416a9915c80b2d6f5f3153b81fc56f92a2d04
+size 60177
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f31d79d12c99498fd5af7c643f7819cfd0e5aa5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00002/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce433cec50ef58bcea1e57a1a3aa61d0fbf39de85433294de527bec0a3fa5ebc
+size 1511020
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..556c62ed29a7f8a596adfd7f487617f4ac28675b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada4092f77d39276ff1202733892a33d00f6d15c9d91a2713eac2ec06a045abe
+size 1635668
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a40b860b009ede7ef220ad7578a545e43ca9ac12
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3139c8b220a46a1a850027a43d7ef1823ce7c47dae70057d236923c58704cc
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..56e6e4aa5d725cc08317c3fc724972360e902d70
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f42e1008cc56976fc350ccab8c2fd31f960a926e1302d21626dc7939572e1ccc
+size 58820
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..64ae1fccd9d6478c23891db24a6ea34524f2d48f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00003/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1ecd6d469d5383760c142370b035c48692803d57428670b26d1e64a39a3c74
+size 1502276
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94288faeb1eb7c34378d7f9798e67092a03ed6e7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996b034ff2fb3426f9833f677b146c515ccf33f10f235e0c9da4ba13c5bde6c9
+size 1625303
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c07e4e7bcba6de7e31d113955bf2661cce39fa67
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57506e6044df8d2026138502c4993ddae0828708f4cf9a1446ab9496b935e34d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..daa192bf8b73d83a15a275465b2d5901a6f8732c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6851cb2c2caca106e34d12809d1e5f4782771b10f61b2b5c5cfe9b78e1ce78da
+size 60252
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e7620cd8446167d0e77c23293381781b21dcb5a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97f2f257f5e35684596f5040bdae40eeca7e7e69bfa601a656efaac7488aac9
+size 1498728
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7f2dcf37bad070329d9699b26506316436524b5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5394096729b90a45ecdb54e6e0c0a3fc79ecebeceb8913a2edb0f1513831e8
+size 1600634
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a426ec3ab5638bea5c90cc9d5b22ecc0c5d20881
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6aa3d6c442b61dcd0a7a0c32823dc6aeaad1449f65a78d893f9a91d92cae52e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..382345a5ed206f5c4071427f33888fad0e5b9412
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383cee3fef6c4626e9058933865ad0eb696ddab7b6cd5ad925a6e0bbb41622d6
+size 52177
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc903e634e34ad8e94541c028c7003435b307ae4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00008/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3ec3c133e0740782e6936975e711fd65c9cfe08917a2dc07e9f46782b15671
+size 1466669
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb7525f3fc65553482d4e9f64826882b96a0fe38
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002ba3a40b61d91e122777ed8b534d2b95b0974c68de6c5d6b0be77207840be5
+size 1586328
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9cd489e486282c7d59fc32fa173a26956b97e5b7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d3520d3a19ba17f4b46e410a8cac5cbb26300cfbf26020e6031df35828a9ff1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..539ab59136869e4018e8f2973dbb6dc1da7ff5bd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776bf6e7dd0e5a057095c7389f312771d69589c3f416a2e9468bd37815d582e6
+size 56879
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f965372002f78867a2736dc6ee3b4b3178e7d1fa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8342c58d9429391ed9daf8966781bedbf1128f3865ea309e6ed9a8e6b29be4c
+size 1451924
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..46095863fff6927a8092a21f7b24f959a875c0d0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:159c2f0a556fb07c92c0200b6ab8dd414754f8579dc21c4793a125b47b54c9d0
+size 1560223
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c4da3b36d8cf6955a23abf85348c42969586f6b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b85aff6836d9682417b7b604968828959d2e39b2207cf7bf2a1cd405b749a06
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..449ab4cc6b83f9b49b3d93582fab68a5742c5f3e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57868141be622f6d6166e86a83d61643f6b848d2712541daf45ee148bfa7d02d
+size 53888
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..35018bb35a9d7779369e2ceb684d95a24ad0e7f6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00013/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e42b0d45b2edaf7ce743c436ed27b56d7f55e83be01bb5b14e54542879bcf08
+size 1432316
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5386f94a84ba343eb02a16c0a7e115f089b5d2f6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d4439871f159f08afacb3a9f37721332c01de29d4707a306c9912d8b98ac1c
+size 1559312
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..16920e003fec8f2ab82e2dc3a846be67c23ea2d2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22acd6b10a1540e0325ecfd5dd6bae6652602d7f2716220695abd194d6e24eae
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d1f9d968872e11c23e93d634fb6cd4e3e5a8847
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263783af089f599f65764912fe7a9bcf1fdfe2264ff0942e5c01a04802efcf6c
+size 53964
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..312f87991bbdce67d05e4a3f3f92c34bc24c2ba0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00014/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379bfd1bb702048046dc0a4eeb3e7da95d57c9fc71712a688dcfaf731590e9ce
+size 1425963
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcdf4007b1ba0f48f2a448cf18faa929e0711b88
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a1ede157a0e48452644d948230edad3989f76905dd889dc3bd4ef20618aa94
+size 1597832
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..565326c69c87a40f0d067b38a4135bd2054eca8e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fd514363a1ad83609d5a4ed1df0c84bf6d08c8d376eb1790e8e22ce821d9aee
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..81e37d3ccabaccab5eaba08326d8347cff822185
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f36bca04ac9672221cd90fbd64ce09a87c4174f0e361d5d8626fcd2b503941
+size 53476
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cea6a8e5394ec3580d303610010e470785d3f4b2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781089e0aae61ab408d8f8e3300df4cde566617c39711a999eac660cd6410f40
+size 1437105
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5c5fff7775fcea4d26db85619abccb9dd86b43d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21845443f3c5e89fc7f749042ca3116cc2fd5a10d6c1e093be8d0d6a3053eec
+size 1567202
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5da016f14b04c4eba3933f2ff414ded520b94362
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc2cdeff212fc296a7055856a548eda149a31f6fcad95d09cd1c15190c1935e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a780ece2e73aec960e772deeebbd375445ef66e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:159f3258ddf3db7562f4e2e4173e250ac7b5472415cf84c4ef0535e7f9a15f9e
+size 53361
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1043fec02ab3fa9c487c95bfc27ffdf1521743ed
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00018/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df06cb2bd2632565b9e5486d58f08479c0e9f62416009a97a27e04aefe116bf5
+size 1427625
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..63b8bb5922106ddee64adc91a09dd97bec4bc22c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a406ffca086c0035f403b9c20eaf3b420d17dbd417e17e7f0ebcea4cfa798bdd
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..163e609c26ef3581837681dc7a5692c4178ff7aa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e480138b1129e50b86b45195b91478f44691438642ba28e4c7312c5244d395
+size 53820
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..490b9b2452d7ab13aaf20b5f84cd433cf83fa93a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010f7b39bf37875432be4214162064338e7e851772bf16fda7f08c46428be212
+size 1612049
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69f59a2e102c1f22d70f94256da93407a7cd7098
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03eab57ba69bb341128a398e696830b7668c08fb1189abf2caf2ea7d1df0a7f6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ccc11c74f736dd06d32aa01a3cbd2bc83d04de8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2310a823cc4c9db80d795e1547590d75978a679b6edd3de6ea3598c713b558f8
+size 57929
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..15c088ca0f609a72f37697438c24bad4a8c0b37a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:324f23e3b5e4056212c582f97b584fb34330586c04c767792bbffc9b394fe5b2
+size 1451852
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb0e9e615b7584b4786f3f8d6bf5e3080fc8f0d8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efab45bc03cdfbc8ba0a039840a296dfedc5807e52080426ed3263e7615528c
+size 1578653
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4cf70f0fe250f42cee14f8d48a9acc80266a2767
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dba197f88e4bdeec8981f02ff2a236bc5c7efd0957a1e33e10a8c4eb820d026
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0556474452b7dbc52614835f9fa398d7fd7d3513
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b1faf794e1683070528f282b9182dd3ced7df373fec8e9b039c51384bd4485
+size 54975
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..281d201aedcb33e01ea6f69b581d7671903c26db
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d49dc88b9d688e85e861216142f3d463808399d57f63240366c34610566133
+size 1434973
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d164f6a34301ff058609c8b0a00faf20212e4871
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceafbdbbb37de13f1d6c67204f6864f086d7c14be346a635607b788ae9457f04
+size 1571800
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2581ef6fc7e633375edd212b7700d51bfd7f5fbb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5e9411efdc2e78c5244c8ef7a872a190b08ab68312f13cac0ee973347d2d38
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d47d1222b5f331c9c4f1ff98892fa95e757825dc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5baec334dbd23b58797b26d1438aa7025a86774f48dc3bab144a3ae80f8e47b2
+size 54956
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b32bb4ab62f9c0421244977f147b34c2650a682f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00024/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49de79c7d563d7aa7bc73f1a75b956b551d6d7231a59fe5617029deb7a2f7cf0
+size 1433229
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..596e81f3b8ad83968105583e4e64d53ea7a92e65
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dcd573729f94f46992ebcab7dac90d98da16ee07473a2d553ebe57abcc9184d
+size 1559271
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f77ba27562a4f6f18feb19df41fac64e15b3772
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5a518c1ced5ff845b5221424a1466df60d3ab34bc9b7c6e58bb5907d7eaf62
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b65059407342eafa84d8f43b7d0b113c1b0583a9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606a7be85d8f030d4b380a9c9799bb0dfe0b982fc1c2aa2c6854d72ecb42dca6
+size 61043
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9683b0c3e67e76432410e10555b269deb064938e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00031/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e5ed4286c22b4ac97761833a1867868f1d3efb6a8cdabfa8746df237179374
+size 1433370
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..805a6db12f79cd5eb2a51a698e80273ed833e594
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ed466538067c1c5411fb7361914c8f9f72f78023cd2c368170d0a8328544a1
+size 1568397
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f0f367f28fa733e271fe640bd939212855b569
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00032/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45be09efac26deae6035c9ee7eaf033667bbc961fcd8ab73b56543aeb279f54e
+size 1445521
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..47548016e66e54261222295f4db175411f7b3b88
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9aebde8f5444952802fe48b7b8d69ff92ac46591084968264b1809befccc752
+size 1541826
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8ff05525a7fcf2fe1386bed230db212f373c2823
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc6e8860affacfabc754e29aa99fc01289ce93821e19636a9812c1c1327f296
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47f0c08ff6bacb21b335e9b37f85a27ba74dae6f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f1235f482dfbd0446fc66ab0a7ace872dd6a36a44511e7ba0f074164afca70
+size 60174
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42528250f8127d79fdf6e52d086342272abc0ad7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00033/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfec8823ccb212d6a5b74d71a85f6de363854023d6b2a1b28881e973f036a22
+size 1436911
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea1bb5e396ed4e2c87a6623f64128e7750b746e9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e348498adda1e4b49a1cdbf130c21716cf626df90e93fc5a8242dc7a4274a73a
+size 1540349
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60ac22bf1f0b9cf8c17beb9c70b6d7fb043b4613
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4627778322da50aa2a603dfa5f9504fde8ae16be4854860c998ae009a959bf90
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b8ad822167a0f5531c2d6e026521cd6432089fd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6cb82df5e70cad7129373147dc5dc056ec6a8914fb68dccf260f670c00b75c0
+size 57903
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a27d58d9deb999ef902b4c558ae5af3251a52b2c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ff89bc93e96bb31a5521aa535eaab97c5082e1a8c56b1d82fd9418efe12e22
+size 1425834
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9764b9265e7fbc77b1c78bfa0b24c1224f40de66
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b9fa4d2e2518197cdd2d67d2703b7320557cc2f0ea87e4cce5f982363aa25f
+size 1539927
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d69323069fe62dc78f5c9416933db879dcdac09b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1599419ac04503c05c0fcc26a900b85b8211582f5c74a7b611a341797a69987e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..efe3b35bf6d2635ff05da10fad89b4fc4ce5631c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98d143ca26c50dc5d4da48b082ffb0a79cd2e70b8d1b1a1ff46a0fdd88b29c1c
+size 58803
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..609e5fa7ac27c5b967e907034f02aff275f87ca5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00035/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00dab0d6bfc6609db3b891a1e3c09572aa728189ddc99b8a0213894677c461a9
+size 1432748
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62d7cda17136c0b0215ca60517b5761acb85770
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fefaaec02abb94cf3fff2e5d2e8a79685e7f61af4d3247386e31a9ad7b79984
+size 1570681
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b9dd5868436e1c2af6926afa2e89a77eeea29f8b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db1111182c144c263950856d6513bc5e2e3227e79617852bb806590f46a2a9d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..37009f9a6e8f4ad5903d8bb15f21d58edecee521
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9795b6202e17a3d763a2c66e79c261023ea618820354aac0601af1aaf54a7bb4
+size 59240
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d162a5b4db80f4960971af5afdc7e9b3a69ee9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00036/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2a19929da96c1590a3774d1336f1dbbccb0c82d22c221623e65db7c17f68ae
+size 1454345
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd96cd04969928c112eb0107baade8835ca890a3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30252198214d7001f51d7e182ec4e86730c2f6ab0f2289bc35f436642fa821c
+size 1575110
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d8eaea3a5d4ec6845b6c5888b81bfa4d70b6844
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:570a3fd4a2e5a075e60f8d1dcc5e554db09d5ee394f22e15e7bca8bb374a6fb6
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da735fdd58c5636c99860a985a49d5aead2ea64a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df2d58982d70d46c639aa90accae9c910b9e1e8f4b0bcf0ac444c085611745a
+size 59767
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c79356db8cc2d3a87e78b6aafcfe73ac304c77a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00040/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5618756d332fd157d892be4521e65146e71b29335d40f27903c150b9b8a7eaf
+size 1463499
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc6fdad94582d7d75464b7799f83c1602291c967
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee035ab6e1c3682ae6c3d1a2010791fbfdc33165c803b84e6307f4605c5b1ca
+size 1559587
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c62347f03a555a6afac413adf16686f71623da3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1623e3ce6c56ff1abf49d3f143e9aea60d6c50ad03caf4c0a28129161fe1a36b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a72524d1bd15e05bb7eb9382b9f170578bf7f6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852e0d352886766516bf66d3b8e1910a8aa3b101caedabf557b57f8db58c0c58
+size 56964
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..870784656ca590b890fac4e83373caa6b35180d1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8466c5e8e0f8aecfb8047ec660ef758a1af398606f64a6487997b4879cef3dc5
+size 1444769
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..81d912d48b8336516b71e27262aa5a3d75fde045
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e6b6db99a17a43e3f09c8e354682552542336673a533d94efa2af5ef5bd2be
+size 1590962
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72a1d1ec12e021ebe4f288c4996ea643add91fcd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441769a68b0bf67ab2bcb3b01b859eb525a2c38bddcab7553026d8f26e220e01
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..71a30b749276decfec751519720719d5f5497ead
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459b4cbdc8e504e2beb00433cdc50411c134a1f3bc0c8c7b1f9874f1b1c352c7
+size 56037
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d26bcd991230da3c1540c8c9b98565fdbe94412
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4116e53f596322a676be7d5f4cd5de312ee830fa0139cddce31b271569c9a1fc
+size 1468736
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2c3c189c26e0fd2b82444a91e96e5712ee5434c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb414ccb1ba10463c02f32d7105212cb997aba9c220b3ebec01e5820cfb4263
+size 1616141
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6956a60e0d5d87e3a8eac836d2835c22d9f54764
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a29bf3c9070bec278d90a20829dc1e91306b472fd06b062369a8cd7a97971ff1
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c58cbf3368271fa47c01bbc23fce1332f9ae105
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b72ba72a24304154d62e02de4e5e8c70150600750b2af777aa48ca7af2d19c
+size 53929
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0c9a324c05cf938ff40689e8f6394e8c2fede1e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de9d018af2014cfbfa92d0df7b613473c8ae6f62748b46b8ae89d66bd39e35e
+size 1478887
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..14013391ae41ff07ed40e61ac1e8bb8c82d6e7ef
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40577a13e6557d327dac072a09a7b1c9a9bcb8c1af0d9ccfe8857dacadae3547
+size 1610511
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bbca2985cc70bf34f5fbe6ede47e33dafabf23e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c0f54feda5a97c90d41dd3e75f33c50a8fcb0a46d763221f13f628d5fd915b
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..85e331788d40117d727b80edaa6bd01703405f08
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d20b251a9289cf28866465f340925ca67ca986bb08f06dcee300ff8c178551
+size 51573
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..305e1620c3f8652ea35b4382a17f87b055a40e24
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00050/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23fe99236f84ca404d51d6ff7a581af92ef62d3a36d9d75ccf58cad9e912a03c
+size 1470931
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c96d902c1b72dc2b815624d42f82290016d400
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3208d6eb816bd9056bca16c7adcee49b9e4d20ff4f545dabefbf735a3f5b9a2
+size 1599711
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8bf66f81cdc661c13e237b07e02c36cec9a5f31
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ab9e53945e4f4f30ed26fb2dc6890f15f79826b533854be1aa1c9fa5567075
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72817556fdf581cd0830ed2445dac76d9c2058ff
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6c868049ffa0c31f511ab14783677842133ad12b95af3f780866f4ace5b583
+size 52777
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4ab63fbd5f8d2bd4859553d762e472cf0ed8f13
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9128bab38767f5f3d512d7efabfcbb1d1711f2e48f998705c5c8c0705488907f
+size 1471830
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6317729f6f89df781f4f32c66b70e74fb1ee0212
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8823e68b0a293ad1f6e5ed8c39249eb2202631e9368f7e42fd90901efbe53b5a
+size 1615626
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8c25793db75049baef136e0d71b5802418b03af
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683f2ad87d354dcbd83abdbfa50f3c272ac967dd648a645aee009d6d12e1ab45
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0fef7c509df911551dc0ff609bf197291ec811a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0dee0683479b1a0be4bed4ea5788be17af67207aaee6157661b10dba83b820c
+size 57066
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdc211dd6e3a61e763592411c75a7c3e8f12bbf6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00054/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b979b9a2008dc237bb235a7d5ba751ffa6449dcf2c94326496d4fe15a23fc4ed
+size 1475218
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3d6f97aed5ca1573b8985e6152799413d5e8c9a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52b0a6a6540a5cc44eb014f3507eaf31e95e2f4d658862b03c2aad30aac095d8
+size 1629317
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f4c66494c8c09a6df34a64a8b4b6bdb6651af3ea
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec748181ab5213f781e91eeae691d673d274f7b70b60e659cc5faf9c2fd9407
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e60639bdc2c651b9b407a90eae65574a2f1da19e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098f3c9ced9781ca0eaf407d7fa84346764619ec40debcb3d285d10dd00e9fc2
+size 56863
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..528cfdf0f0cbe0993272e9297dcc9fcb070e78ae
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00057/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e48746327ccba5c2f1af50be3a7c057f2bb5e6573cfb771f52672ae9cb6fab2
+size 1480863
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a14315ee7c89135194520dc5559b1888b19265
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c72cc883b619c233667f268199581b40e37c61730d2bbe6d0655323f5437a12a
+size 1629570
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0916760a8582b7560de513ae189190bd6f72b3a3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778f257581fb94a3c20ea40fae42da6e7e92be5c7afd568eee15aad9689df86f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f36478323ccbb9f75f71ff3bc513f8f418326c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac50bce6dcd61370697994949c15845e40341cec16fc48a08e0e7ba92284debb
+size 55239
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf658a0ac85a0d22bbf3b387eca5edbb1d7d3e50
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9c4dbfeb3d020a36df24180eb1948ea16d49c75eb5f5efd242efc9265ae8db
+size 1487757
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0eea5fbe7bd91311857dd44ed77465a9903f5b3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f5cfa804def7293fef2a25bc99b55d4071168debe1e37ffd36ff89351a8701d
+size 1606925
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86d14f0dbab3c622e85a2613c80dc5f39d414a5c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b673bc78ace0abb92e72edc64508ae0777b9191e058658aa0520629862163c7
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7be549ae4edf2f38576cbdd9ea89dbbff07fb20
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9d32e446e2f0180be502b0f69eaa7601e0c5187fb96c1da15883ed0a1c667d
+size 54660
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e043bae1593d311bbe7b046f0c76354162ee406
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe5e5a65a3c536891dae0562ca236bf5860d67e1f53ba611c0ad3ed2ee80a4f
+size 1473433
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..933604ac69616d84d2cf711bddf668457275428a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e4d104a6ca33eaf71f51a44a214b9e1626be4916c9c3e8d385c079b016b704
+size 1637789
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..89240f3f35c52612e137c218b39e3770d7e0ae18
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df1b5867476a9d623dad3796b9a91242076cb4796fa83677e88957728374450
+size 1492991
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a78cd56ea4bfe6a95704ff8cbac48227c63605af
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbaa6232c6b2984cc0c1ea610763f74bd3fcaa7f5f42c36f3e0ef3502bd296e
+size 1613512
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba7f3f281414139cbc2ed4103ea8d89491808a0f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4adeef743321ad128615fa63c0793d8eb751419f6820240b4386cdf20b7d1f7f
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..215a001941e058e395dfec823839cd2c4ec062a9
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afcc444eafe7c3583a5556e2670e0420dd3d03f241d15a0f1772eab265dcb89
+size 55598
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2296f40c085c6b242663525148d2e3d0ba4c7c6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00061/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7654ede5de284bf083f623316fd2db27b12b692777cea4fd37be8d4999611a46
+size 1478164
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..760d04acc3ae191490af3e3d82c65cc5d55f7438
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd0e9f137cd273692581b1dac6e936d221aec5098e98472e5094acaeec442a8a
+size 1635693
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..be0e75fa15b42c7eb1c8f00eb8909cc733debd8a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e055f49f376bfbf0dd5486d69242f413945552575c433dd45a1aaf3502c6dcf8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..48835bd07e0cf27dc6eb2ec406f9ca07d7771ffd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1abde6eae360c55767b298ef803498b286caf329ec721b629c4638ccf33026ee
+size 57283
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa003a30f252798d8ba6b02b4678427e54240ea8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00062/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05621bb31d41b62797f8423fb258e1ee8b9b7b576510c7ed2b473428cf9a2402
+size 1495028
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd474b25d088821b4277f15d61c8f68a4480c374
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce967b922b7636ade25d82035b644abe535e07d24c7899c3c1d3373dccbc8a5d
+size 1615097
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..614e639818e07f38c366f1337eea4fa60f3c8290
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac812131cb0ccaf68d76f8d1d4ee2bb027b290777687e2b845288be6d3e2022
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c90dbf7e52028af2235b711cdea71ef2fce06626
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51811135b4ea5e8b81561cbc2aa69c7559a5e15a250fb0c07e81365f44ea5a52
+size 53549
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac122c3ea33910fd9dea324567094b300697da7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00063/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd786984f20ed675eaabe72c39ed308e1e57b57c85e9d1b10ba9fe2f6b1cf22
+size 1474816
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..276ff0d0fcb2442766dc573eed1f4548e52044dc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad995abd57f6fbfe321cd481642ba87949957a4171566bd034f5f7d8b6d7d749
+size 1638508
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aa9efc4f0b7f88208c7830b01ff378fe2e1ba5b4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ea5c32961b5d200f0ae2139b7082d5d1daa5ed641bcba866fe47f70ce5b486
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9af1829aef4c056871f47a0af2eacf8aba88953
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34a831ce7b11cd11b5f3fe12d93a6c6c1e7f259694ac563da0cb5ffb439c257
+size 54785
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b84e5268d13406fcb3d0aa2c37d5f7137424805e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00064/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a9161310e09c3f482497b62eff6a5aba8eac37b63f118dbef6d7acb10e8dfa
+size 1489049
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fbd5aaf546255d1351fe8ec2a213cc211d5c13c
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c9425130d294bf71a849752f9c015090f7b6f2f2f9e72d5b99e710dff94c02
+size 1641631
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf1875c44b0c7d5e71467db9085098de5340cd4b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5863ae76e22a4784eab25721d4cd8351f931336afd6a3cfe43017815018818
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..27d4d2a4bfa77c59a61157d267bd690fee14f263
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4f2291853a5df3974f293a7732f350b666f5317f48fc4010ebe91bc5b0f268
+size 54977
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aec296588235d29fa9e0dafcc9b31dc7b176122
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00065/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab37e861a55e8a83341042f5de5afb02784a7f03d5d3e44ae99007440621035a
+size 1490097
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a5204f3fbf806a4d53f9bd92f2a2e368e08bd97
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f353b4d5777dd8cc40c03565dcaee9fef894aed7cc7482183d68583ab60b0b
+size 1653083
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0bc27cb015fd17e9d8a388f33375bdf380012567
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009023e687fb04aa74fa91d4a521d0ab8aed1f357c8bca499d150e1268fafb99
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..45c49822b56ac5aa5b466117adafa3ab3468e7e0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad180344951a99378d117c83a5c44a3ea302f10a564c138faec4cdae8744e230
+size 55230
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1e2a7e6f8a653d720be90782d6f5035731c125d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00066/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b5439d3773f85979e1fb5657ae1b1a40265454c157b384cbdac42127a4ca21
+size 1500768
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceb1d939c9c28c5d4f3a93ec66033dd823fa1b71
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4127c484b6cc1bc9dc46be3723cd9b4609ce684bbba11d9fb78a9634cbf9d2
+size 1645469
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..db7becf6ec64f0540dc84cd3af7c637a49858a86
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0a058436a17f0b5719c599836aa36ab9c1084a9083c14deb8ae005bda7d98e
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec1f00de959b97d5100ea8dab506ac8666a79a20
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8400e1cb88f649659330d488a5d7fe356d03db50781ea7496f4fa3864a07c6
+size 54457
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56097553855faaa245e957ed51e62658cb11017b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c6d46bd3e95abc306dfec9e17110dd74ca4a77d74da6804732ea1c644be18a
+size 1501090
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e0f3f30873bb43f7252c2fe8489a7f10000f2ae
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49151c3d06e768bdb4c5afc0fc4fe785cfcd2485c0746b80badd3bb37bf4ded3
+size 1662422
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b5bf422263b9af55fb527839b0d699a20957dbb1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d5f13e3d798b8d91293a62f510f2865bb629594d000c4013fba7c9584357af
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..947605feaa3992bf524504275df6143e0d8a44e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a459f5e7c87ce005fdbac7a371bb0950b77e3ad8239a31295f05ba5f4adc59
+size 55960
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..33893ff264fd33557d455b2bfafa35ca2039330e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00068/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb222be1bc71e64ead8b0343628a5c14c901d9005e32d300b15d082c431cf6bd
+size 1504786
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b37ea08b2eca6bc81e85cd91aabaee48c8bf5ebc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b76ca802c905eb89c53009d4cb1138fe3a5ed1dd3cbbea650078a6a35d32ad5
+size 1688996
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99a23f2655b66d975ab49f3ea63612c965aa52a2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e5e19864bce1c42805205cfb41f7e064a29913c1b912a43ddb7c1a4fbe9a9a0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2748b41502eb166c4fa8abe6e70ff53c53d7cc2d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5918cd58e537e16d23300ce9ac26336bfc7b70f33da0d3832f24f94367dcc67c
+size 61139
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6580a0c69b14412b8b8c1e24b743ced7b2695233
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00070/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b4fc3eb2fd20fb6bd3e55aaa6cfdaef76662ee84a3df36db43917ce89c7da0
+size 1531974
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8757ae8dd1bb539c4de850f74bd0db6b1966834e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dfbe4e65beae4dc06fec4d35cfeea55011577f9c0010d13753b8e0ccb9c5b0
+size 1660774
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3bf057d1092cae57d1b262e960440772d7a68625
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1791567dba79fbb7d01c60497cdfbb44420cf7521a6d65aaf677ac701934f05d
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..28c23aeb340b6f31e86f0896019c19794907f99b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e2335826e1db2177ae8b99147121e680591039a573da775af520d67b230f19
+size 57137
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d38e1a8fb8cf38a3b614d86708550b51726c0a4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00071/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2f4c9ad3f44f9c244f86b6d664104e205e093e29308453c493bffde52fee34
+size 1498691
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..090b86dd7082f3c9618d44845518ab0d2026b010
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878a178d6740b31a1fcd34bb1d84816a0dabda1dfbe67e3a8549902455245665
+size 1644775
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ef771aba88f0964e47bfd861ed64b9773ea78642
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9493e8918544ff46308bd81c7bf880ac4eeb58b627a31286f0cc2745de61b46
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fd22d5f00d7d69baa47eff897fb5303f4ff63ca
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec670dc61706f1a8a34a004bcbe08da024ae2143bfcefdd7987f5433ecf938bb
+size 53450
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0c88e0900e9a4823386ba679d3336b2ebff887a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94039a4c19a855f0498eafb0fcd3b429adc6e65f744ff694b402ea726314a10f
+size 1497125
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f4f448744ceadd0e31f4da753110a6bd22cbb61
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20285657b3aea8de55ad74534c64e15678c518319c8751d4abe26ccea23ef2c4
+size 1665320
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3c03c2d8f653b35471bc16891cc0d33331fb09bf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed091bf84ec56c0fff04a95ea96613809d4c69117f646a5f21212c879aa73139
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4402234b87dab4098aead69d02e0edd3c545c998
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadd68a4544e980b6d760a03c0b36bd8117a060a75feddb882fbcb992f07021c
+size 55064
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2460321411d2a11a0e6a0b04928b7b40a0d826f
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6848fc72f182e1c2530035c95f73edabdff8b6c442b519588483ee90b9c26771
+size 1495819
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b129a4d77983eec62e7498f8d1f80fa16a9f1c53
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73d7d1d6cf327f9ee7d10c930c625c79734171f02a3758a0569cfa668779452e
+size 1690263
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..54abf37a7caa611bd8d68f46ff39586664391e00
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b86458e7869a43d85865861b2222398eaa909ddf735297871ff73998f6ccfd
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc994a715747f60518933c8aeef617fc833df3c2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4895e31ee24301b14cffc7584902f44728240a6cf6bccdbb8d72a1455641c1d
+size 59367
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5383010d404f83941630198629086fc2e796026
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00079/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e45cc485421ccb8312ee9a2956957b53737cca6d8d2931a237e81e59bb3b3f2
+size 1514999
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f336061c7361b3048da857d007339a57c5d02aa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ed4f7d07cda19d71ba7c7fd8dd4a333ff0eac13f69f837603fc3b86e79ece3c
+size 1679531
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..60af0b63896a4bb132d2a74f13f7b9b41b869e4e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dead69acca5d9cdb6648f9cc1488d6bf4e355c74e21b200f07907cc052121205
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3db95287192a986c81fa2be7298f18961f70c54
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90ab1cf174e8f2f1f8f4aed6ecb4b57a72959865c69cff917176af61d2c9f75
+size 60194
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c77cbacc809f70fa24b576fa523531d49bd705
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00080/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c404b34f04b87ad7223c11ff2c6636b5345e39c32ab5c7b2ab277198633de454
+size 1512413
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a20e81707b31d08c1433994709e6d35b5b77ab32
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d052de95ace10bda775ed04dbd7947cf4e4539f2dfe6e7811344bb2079a80c
+size 1683362
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7826a10245a9a04150dc6567e66f44226dd73d16
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f33ed9651f578b71ebc8accc8ac75f491c60b3a72219fda176680d67bf3755
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47a6c6d6c4be000cb25da476867ba32baa3f5e65
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c445d877b9b9c960052083ae540e82409bd171469fd99acf42fa56259a52bca2
+size 58851
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9d74b4709dbc90faf24b9fdf216a3b82e4a37a
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00081/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b5b480d2419733d0b3c126a938f0877dc778b14f0fc8f07ede264550777fb5
+size 1521576
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbf55506c36d70fe5ad9551fe36d22dbe1e86339
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf6482e370e0894ec8716d59d1ffab0f3b9b845a08a77269988b6a322105b01d
+size 1686491
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a9e43ba766a5b8d8717b5fcb7a711e525b401f75
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1850b555e1e49bdc173c68b92f4f59ff24c5eacde4fbde76eb2e417446398426
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..83a7c32720eafd3cdb2a812a2c6cff45d4ad4b4d
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94769ab8e673c6f53e877c6e33a0e2dc712aa2accd1aa23fbe15b0c6b6a9aa32
+size 59089
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..884a08a0330466f1f7a3bf7b1aa0cfc6b7b91ad2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016c0280c2a6223505c77ba69391b45c12624f48f0a92eab4986d0d2cee2c46f
+size 1515516
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..533b5781c366d7ef492f261737d27770d437a5a3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3daef6e0a850b4e9b510966907d5e4b0b6a8026a6b420db6b74858d9bdfbf0a3
+size 1690654
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e111a7d1063e56836d7f1e7a2beaa7c5802e7fc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36b38c908bcbdc48fb666fddfd3b4315e578ec0ff5cb0b6d218fa81e01a5ad0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cff9abfb672b668a766ffa165c023dcd83c2d91
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9e461c31e627173526b7fcf9147878526734a98c78d9d730403ca2cffcc533
+size 61349
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..084443a157062743d27e31154fc180edc96de6eb
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00083/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad8539dd51e53e125b19df4a96f1ac00081750dee528a33ece7989c2f053680
+size 1518939
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a86f22b3172cf58cf4d3d8836c7b477007fbd10
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ec91474fddfbc875f6115057e1dd4cafdb8dd2f360476b5dbc077e4e295057
+size 1721069
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4f4173be8114e1b06d25d090f3cd276093386cc
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4524a0aa767de9d0c263ad3e5cae6308c71aba85dac85b5fdb54fc74ea3fefbf
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7de0a9f17a4e5c094cda8a3c9a35e173e128ecc7
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b260ab485eaf5f79b203052c800b7b00e4dbb3db6613232c91a508ac05e417db
+size 59582
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..42733adcc4ba0119c92c79d1cdbdbb54867785d4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00084/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33798330e2c8faf194f85a550780ea1c1a5fe36c2d6cc92358a5f60937cb68e7
+size 1525223
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3af1c2d31ae6710019a42e01e6d60d705ca38c0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de6259d04b6edecab79c26391b9df172543dee5b6c3c3e5dd14bb5adb0de2a6
+size 1721364
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..041114373518d0af3d5fb6e6d0b965efed04a687
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80017236531e5f08b98f613326f9db614f901cc4f0a295e520ad3341b2c7d445
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1addfe02a85f476733817e6b1a59b07cdcb710
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:368dd3ba752883ab2d109256b0b06fc12e9655ff9a2e34db350cb3835752cca3
+size 59278
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e8c65393845b5ea16e2da2e80a487347b33c903
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a467a741ab599ab0e8127328e3b7cf90556ba6515314c8ef324b170b4f06dda4
+size 1516204
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e24a2aafdf0549a621b3b9be55734912f046a752
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b4b0cc543e4b0a4e26bce9253a1eccb99bd2892892ebfe78e561fd60fc3d07
+size 1736930
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a86319a7f023e29439703170e6f712f01e4bbaa2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7cab635c6da8a8bf2447f89896838f9915891bf993c85b91cfa9e52ac796534
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e2d74d6454925905008add018236903971c6b58
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17b2c193f6de4f5fe2833dd084b37d46dea0cf7fb180ddd89620c96be3e04b4
+size 61003
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f83500428f9520c71e252736e4f06268adcc1b92
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81aa030de3f3d8b4199e6eaf80653acb389db1122f283f9c50deab8e73cd229a
+size 1527297
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d96d840af9853af3883d27e7cdbd3396a5b2ca80
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29d471cf546664ac70f9b8b906761717e0f0fcd5c5132d4af74a0cc2986c51aa
+size 1740544
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ee729c49381f0371f77cff221f0afb026f597b27
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1de1714c5f0249768923291fd973e31ebfd3e1171257f65c9168bceb3ffff5d8
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..22566307586bfea111dd48f49a974d785a0e9c60
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01da2bccf812bf96af404509259ab28574e52f450adf4ff6382ec41464c47a6f
+size 64183
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6470fdc70d83c21217062adce897c2974e46c8e2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6107cf4629d866b629d367649e1a51510ad0ae0d907776f83929d845544093b5
+size 1523751
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe1b2e3f06e29ce6f8635948d943fff923dcb2fe
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ef730cfedd8aaf5054fad5aac4239bcb265cd7c4f64ebfb14058503d4e6bbf
+size 1708582
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1e7e6c64c347b0fa396ae651ea22cebaa69f345
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef870b4adaa162256e10608b830754bfd0d13167886e5a32700115bf6789562
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..883608036d3e397cfdd7a0d36e1e7816305ec211
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac27af52626af649a60af53dfb584a4f9d5f28ca1b2771b68c378d7759decfe9
+size 61022
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1df2961b64168b6fdeb8265c8d6639ee8734e1f1
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1318a96ebc4d709b401b0325cf3e671c5a421e4b736d5737aa82e17cace3799
+size 1512635
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f7a8f43edb8c76f1797ffc76e25a5110ca7bce2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d94940f551d9b931d6c680ab1e76eb95aed2dff98a56cc16ab35fde61f3c5b
+size 1679676
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..441635b949a959762ffbf91809bf764b9f5218e0
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f890aeefd6e2e6fefc4f2b6ec165b3c7c6649107dd854e2f071078e6dfd47a0
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8452873672cf39e1a360946629f363ee5ffb7fd2
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a51d439a78d23f65f1628ff104e4272658ef1cc62f403bc213b63246e7e9aca
+size 60733
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..562632883c26f8caae153cee49b401ba7b367aaf
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14699e40f06111e02aad3f517e3d91cca7f0f5a7be6efb065378c3e4f5811ae0
+size 1476472
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a050377d84ba35cbb11000922fdb70f19a76cfad
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21bd1b5530055a7c802c4476560e90fb69c8de33d855d431d146915259b725a7
+size 1707343
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73e3e447c957c9b464d7f2c3860e6ec46b672efa
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398c539be67b85bd29ba9ab32defcaabfc7d4f4d58a02dca2ea2260decadf919
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..578036220986c0f1a48a591c8e9da17c4055fa5e
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b567fdfddff05b43138a7e77c670afb78745a81fcb402438deb0e61d48603efd
+size 61039
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c953b970b6617c80a93e8b6c4eba35fae9bcdc3b
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00100/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be62c1e36c69ac0c102cb7fdcfb69aa375ed566eab92a852b15610bf052e687
+size 1492775
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7563cca6bdd55b7c856a11888e0510e4da9bb037
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3fdb60f6cbe90cd08f7662970a1e7f911e303ca1ab205e39930b6c4169e0491
+size 1673442
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..443f39e5faf4b1230bf3cb0b0554f3c38d854873
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8108105fe185dbe1cad8836710a18cfd21ee3878e621ca79eae09e016122cd2c
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..49eca729d42a9f3c0954c1affe793cd2641a02f5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823c210b83cb47e23d344af609abb686e8d3737c6ee294dd4cf085bd8a9142fc
+size 57273
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..12a7b866644e2c666ea6f8f849d0e199b88e9480
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00102/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0874bd4bbb4de9ca88886b62d7493cd83cc9ea339d7f73bb32ae0b87a7438d0
+size 1456466
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..18fdb09807661b9ef164cd7220b37fddf9adc7ec
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e000d51e87ffc81bbf6d3220af6517b7033bf00c00377aa3e1e3dc9fd715dc6
+size 1756582
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7938721ccf5f250bd18c3b3831fb57cc5d2987f4
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5070b1d03b93b0812e1d6922612a192d82aaed124675a40085f49dc146b2a8a4
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..77355f586f9165e93f7a827acd590b10d3e94e62
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0224f6faa6f437234449af7a817dc69c6ec50b6c64a31836eb778fe35e7536e
+size 59983
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc237903033db313a520daf332799ae24bb7b6f5
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00106/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47c50231f00552b3fc1a7c45fb950a81dbe5cc67960c62b1a0ff4744654ea190
+size 1522636
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/debug.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5ebe0a63d8f38901eae6b2497cabbf79e7dcdd
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a933edb88477383763952c936746a0ef9e12a3ac7dc9fa54b40bf7aeee96d7c1
+size 1766562
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/depth.npy b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fda40dada9e720c13f450a3cdc4df6663648e2c8
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330e97358cdfded24ff7ae8004e8e806573ece1795643ee26e536c760ad9f0ba
+size 3686528
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/instance.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0433eba3444fd919eb31edb35f9c70ea4fc75d3
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e64656f1a9bd057e70737b948eff8dad474be4d9c1d478fed23eefb5763f4c
+size 62706
diff --git a/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/rgb.png b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..926a22d4a8cb59d0eac5b2423f3773011a56c9b6
--- /dev/null
+++ b/data_v7/Town02_Opt/trajectory_1777249006/aug_001/frames_playback/frame_00108/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd9d5146bcc476428ea92961dd353dd536d2ce6f30945c555c26bff871b6e9f
+size 1544535